Robust position control of robotic manipulator in Cartesian coordinates

Kuo, Chen-Yuan; Wang, S.-P.T.

doi:10.1109/70.97877

Cited by 18 publications

(6 citation statements)

References 15 publications

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“…In this section, we demonstrate the performance of the optimal control approach to robust control of a two-joint SCARA-type robot [11,12] as shown in Fig. 1.…”

Section: Simulation Results and Analysismentioning

confidence: 99%

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Indirect nonlinear robust control of robot manipulators

Pan

Xin

2014

2014 American Control Conference

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In this paper, a new robust control strategy to accomplish the precise control of robot manipulators under load uncertainty is proposed using a nonlinear optimal control formulation and solution. This approach is based on the underlying relation between the robust stability and performance optimality. A class of robust control problems can be transformed to an equivalent optimal control problem by incorporating the uncertainty bounds into the cost functional. The θ-D optimal control method is utilized to find an approximate closed-form feedback solution to the resultant nonlinear optimal control problem via a perturbation process. Numerical simulations show that the proposed robust controller is able to control the robot manipulator precisely under large load variations.Hejia Pan is with the

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“…In this section, we demonstrate the performance of the optimal control approach to robust control of a two-joint SCARA-type robot [11,12] as shown in Fig. 1.…”

Section: Simulation Results and Analysismentioning

confidence: 99%

“…x and max ( ) L x to satisfy the conditions (11) to (13). In addition, these bounds in the cost functional (10) are desired to have the quadratic form such that the θ-D controller can be designed.…”

Section: Robust Control Design For Robot Manipulatorsmentioning

confidence: 98%

Indirect nonlinear robust control of robot manipulators

Pan

Xin

2014

2014 American Control Conference

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“…We now illustrate the optimal control approach by an example of a two-joint SCARA-type robot (see e.g., [3] and [4]). The configuration of the robot manipulator and its parameters are shown in Fig.…”

Section: Examplementioning

confidence: 99%

An optimal control approach to robust control of robot manipulators

Lin

Brandt

1998

IEEE Trans. Robot. Automat.

156

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Abstract-We present a new optimal control approach to robust control of robot manipulators in the framework of Lin et al [7]. Because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is important to design a robust control law that will guarantee the performance of the manipulator under these uncertainties. To solve this robust control problem, we first translate the robust control problem into an optimal control problem, where the uncertainties are reflected in the performance index. We then use the optimal control approach to solve the robust control problem. We show that the solution to the optimal control problem is indeed a solution to the robust control problem. We illustrate this approach using a two-joint SCARA type robot, whose robust control is obtained by solving an algebraic Riccati equation.

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“…One of the fundamental problems of robotic manipulators is in trajectory planning. The issues of trajectory planning have been discussed and resolved by various methods (Gasparetto, 2007;Kuo, 1991;Chen, 2010;Conkur, 2003). After reviewing the available literature, it can very well be concluded that inverse kinematic analysis used for multi-DOF robotic manipulators have considered restricted wrist motion and have applied ANFIS method on links movement only.…”

Section: Introductionmentioning

confidence: 99%

Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

Manjaree

Nakra

Agarwal

2015

Acta Mechanica Et Automatica

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Sodium Thiosulphate, Polymorphism, Solid ElectrolyteNa2S2C>3 crystallizes in 4 modifications. The familiar monoclinic a-form stable at ambient temperature transforms into the trigonal /3-form at 330 °C which at 388 °C converts to bcc y-Na2S203. These transformations are reversible. Unstable orthorhombic a'-Na2S2C>3(Pna 2i) is obtained by dehydration of the pentahydrate or by cooling the ß-phase.The y-phase decomposes in sealed ampoule to Na2SC>4 and NaSs; decomposition is slow below and rapid above 440 °C. Equilibrium displacement by distillation of sulphur accelerates decomposition even for /?-Na2S203, and maintaining low sulphur pressure by pumping gives Na2S03. ß-and y-Na2S2C>3 are superionic conductors; a dynamic model is presented for the /3-structure with Na+ conduction pathways originating from oscillation of the S0O3 2-tetrahedra. Structural relationships can be derived with respect to the arrangement of the thiosulphate groups.

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Robust position control of robotic manipulator in Cartesian coordinates

Cited by 18 publications

References 15 publications

Indirect nonlinear robust control of robot manipulators

Indirect nonlinear robust control of robot manipulators

An optimal control approach to robust control of robot manipulators

Comparative Analysis For Kinematics Of 5-DOF Industrial Robotic Manipulator

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